M=1.096;m=0.109;b=0.1;l=0.25;I=0.0034;g=9.8;
A=[0 1 0 0;
   0 -(I+m*(l^2))*b/(I*(M+m)+M*m*l^2) (m^2)*g*(l^2)/(I*(M+m)+M*m*l^2) 0;
   0 0 0 1;
   0 -m*l*b/(I*(M+m)+M*m*l^2) m*g*l*(M+m)/(I*(M+m)+M*m*l^2) 0];
B=[0;(I+m*l^2)/(I*(M+m)+M*m*l^2);0;m*l/(I*(M+m)+M*m*l^2)];
C=eye(4);
D=[0;0;0;0];
G=ss(A,B,C,D)
G1=tf(G)
